• Title/Summary/Keyword: Haptic device

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Stability Analysis for a Virtual Spring Model with an Extrapolation and High-frequency ZOH (외삽법과 고주파 영차홀드 출력이 포함된 가상 스프링 모델의 안정성 영역 분석)

  • Lee, Kyungno
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.19 no.1
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    • pp.12-17
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    • 2018
  • In order to enhance the realism of a virtual environment, a method of maximizing the stiffness of the virtual environment model is needed, which maintains the stability of the haptic system. In our previous research, we proposed a haptic system with a first order hold, instead of a zero order hold, and showed that the maximum available stiffness of a virtual spring with the first-order hold is larger than that with the zero-order hold. However, in terms of real system implementation, the zero order hold is a more common and easy method. In this paper, we propose an extrapolation method and a high frequency zero-order-hold output method in order to obtain the stability region using a zero order hold, which is equivalent to the method using the first-order-hold. The simulation results shows that the stability range of the virtual spring becomes almost the same as that of the method using the first order hold when the sampling period of the high frequency zero-order-hold method is decreased. Moreover, the stability range of the proposed method is several times to several tens of times greater than that of the method using the zero order hold only. Therefore, it is expected that the proposed method can enhance the realism of rigid bodies in a virtual environment.

A Study on the Development of Driving Simulator for Improvement of Unmanned Vehicle Remote Control (무인차량 원격주행제어 신뢰성 향상을 위한 통합 시뮬레이터 구축에 관한 연구)

  • Kang, Tae-Wan;Park, Ki-Hong;Kim, Joon-Won;Kim, Jae-Gwan;Park, Hyun-Chul;Kang, Chang-Keun
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.20 no.6
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    • pp.86-94
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    • 2019
  • This paper describes the development of unmanned vehicle remote control system which is configured with steering and accelerating/braking hardware to improve the sense of reality and safety of control. Generally, in these case of the remote control system, a joystick-type device is used for steering and accelerating/braking control of unmanned vehicle in most cases. Other systems have been developing using simple steering wheel, but there is no function of that feedback the feeling of driving situation to users and it mostly doesn't include the accelerating/braking control hardware. The technology of feedback means that a reproducing the feeling of current driving situation through steering and accelerating/braking hardware when driving a vehicle in person. In addition to studying feedback technologies that reduce unfamiliarity in remote control of unmanned vehicles, it is necessary to develop the remote control system with hardware that can improve sense of reality. Therefore, in this study, the reliable remote control system is developed and required system specification is defined for applying force-feedback haptic control technology developed through previous research. The system consists of a steering-wheel module similar to a normal vehicle and an accelerating/braking pedal module with actuators to operate by feedback commands. In addition, the software environment configured by CAN communication to send feedback commands to each modules. To verify the reliability of the remote control system, the force-feedback haptic control algorithms developed through previous research were applied, to assess the behavior of the algorithms in each situation.

Desigining a Feedback for Exercises Using a Wearable Device (웨어러블 디바이스를 활용한 운동 중 피드백 방식 연구 - 근력 운동에 대한 멀티 모달 피드백 적용을 중심으로 -)

  • Yoo, Hyunjin;Maeng, Wookjae;Lee, Joongseek
    • Journal of the HCI Society of Korea
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    • v.11 no.3
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    • pp.23-30
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    • 2016
  • The landscape of the current fitness trackers is not only limited to the aerobic exercises but also the weight training is comparatively excluded. Recently, a few weight training fitness tracker was released, human-computer interaction was not well designed due to the lack of considering the context. Because body movement would be intense while doing exercises, having exercise performers hold or operate a device makes a negative experience. As the wearable device is always inseparable to body, it could provide effective feedback because holding or operating a device is not necessary. Therefore, this study aims to make the exercise performers feel a natural feedback through the wearable device to do effective exercises. As a result, this study identified three findings. First, the information which exercise performers most needed was 'during exercise.' and the most necessary information for exercise performers through wearable device's sensory feedback was about 'pace control' with counting and motivation. Second, the order of the most preferred presentation type of sensory feedback was auditory feedback, haptic feedback and visual feedback. Third, the satisfaction, utility, usefulness score of sensory feedback as same as the personal trainer's feedback. In conclusion, this study illustrated the feedback design implications using a wearable device while doing weight training and the possibilities that wearable device could be substitute for personal trainer.

Evaluation of Car Prototype using CAVE-like Systems (케이브 기반 자동차 시제품 평가)

  • 고희동;안희갑;김진욱;김종국;송재복;어홍준;윤명환;우인수;박연동
    • Science of Emotion and Sensibility
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    • v.5 no.4
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    • pp.77-84
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    • 2002
  • In this paper, we propose the NAVER, a general framework for multipurpose virtual environments, and introduce the case study of evaluating car prototypes using cave-like systems. As a framework to implement variant applications in virtual environment, NAVER is extensible, reconfigurable and scalable. NAVER consists of several external modules (Render Server, Control Server and Device Server), which communicate each other to share states and user-provided data and to perform their own functions. NAVER supports its own scripting language based on XML which allows a user to define variant interactions between objects in virtual environments as well as describe the scenario of an application. We used NAVER to implement the system for evaluating car prototyes in a CAVE-like virtual environment system. The CAVE-like virtual environment system at KIST consists three side screens and a floor screen (each of them is a square with side of 2.2m), four CRT projectors displays stereoscopic images to the screens, a haptic armmaster, and a 5.1 channel sound system. The system can provide a sense of reality by displaying auditory and tactile senses as well as visual images at the same time. We evaluate car prototypes in a CAVE-like system in which a user can observe, touch and manipulate the virtual installation of car interior.

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Wearable Computers

  • Cho, Gil-Soo;Barfield, Woodrow;Baird, Kevin
    • Fiber Technology and Industry
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    • v.2 no.4
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    • pp.490-508
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    • 1998
  • One of the latest fields of research in the area of output devices is tactual display devices [13,31]. These tactual or haptic devices allow the user to receive haptic feedback output from a variety of sources. This allows the user to actually feel virtual objects and manipulate them by touch. This is an emerging technology and will be instrumental in enhancing the realism of wearable augmented environments for certain applications. Tactual displays have previously been used for scientific visualization in virtual environments by chemists and engineers to improve perception and understanding of force fields and of world models populated with the impenetrable. In addition to tactual displays, the use of wearable audio displays that allow sound to be spatialized are being developed. With wearable computers, designers will soon be able to pair spatialized sound to virtual representations of objects when appropriate to make the wearable computer experience even more realistic to the user. Furthermore, as the number and complexity of wearable computing applications continues to grow, there will be increasing needs for systems that are faster, lighter, and have higher resolution displays. Better networking technology will also need to be developed to allow all users of wearable computers to have high bandwidth connections for real time information gathering and collaboration. In addition to the technology advances that make users need to wear computers in everyday life, there is also the desire to have users want to wear their computers. In order to do this, wearable computing needs to be unobtrusive and socially acceptable. By making wearables smaller and lighter, or actually embedding them in clothing, users can conceal them easily and wear them comfortably. The military is currently working on the development of the Personal Information Carrier (PIC) or digital dog tag. The PIC is a small electronic storage device containing medical information about the wearer. While old military dog tags contained only 5 lines of information, the digital tags may contain volumes of multi-media information including medical history, X-rays, and cardiograms. Using hand held devices in the field, medics would be able to call this information up in real time for better treatment. A fully functional transmittable device is still years off, but this technology once developed in the military, could be adapted tp civilian users and provide ant information, medical or otherwise, in a portable, not obstructive, and fashionable way. Another future device that could increase safety and well being of its users is the nose on-a-chip developed by the Oak Ridge National Lab in Tennessee. This tiny digital silicon chip about the size of a dime, is capable of 'smelling' natural gas leaks in stoves, heaters, and other appliances. It can also detect dangerous levels of carbon monoxide. This device can also be configured to notify the fire department when a leak is detected. This nose chip should be commercially available within 2 years, and is inexpensive, requires low power, and is very sensitive. Along with gas detection capabilities, this device may someday also be configured to detect smoke and other harmful gases. By embedding this chip into workers uniforms, name tags, etc., this could be a lifesaving computational accessory. In addition to the future safety technology soon to be available as accessories are devices that are for entertainment and security. The LCI computer group is developing a Smartpen, that electronically verifies a user's signature. With the increase in credit card use and the rise in forgeries, is the need for commercial industries to constantly verify signatures. This Smartpen writes like a normal pen but uses sensors to detect the motion of the pen as the user signs their name to authenticate the signature. This computational accessory should be available in 1999, and would bring increased peace of mind to consumers and vendors alike. In the entertainment domain, Panasonic is creating the first portable hand-held DVD player. This device weight less than 3 pounds and has a screen about 6' across. The color LCD has the same 16:9 aspect ratio of a cinema screen and supports a high resolution of 280,000 pixels and stereo sound. The player can play standard DVD movies and has a hour battery life for mobile use. To summarize, in this paper we presented concepts related to the design and use of wearable computers with extensions to smart spaces. For some time, researchers in telerobotics have used computer graphics to enhance remote scenes. Recent advances in augmented reality displays make it possible to enhance the user's local environment with 'information'. As shown in this paper, there are many application areas for this technology such as medicine, manufacturing, training, and recreation. Wearable computers allow a much closer association of information with the user. By embedding sensors in the wearable to allow it to see what the user sees, hear what the user hears, sense the user's physical state, and analyze what the user is typing, an intelligent agent may be able to analyze what the user is doing and try to predict the resources he will need next or in the near future. Using this information, the agent may download files, reserve communications bandwidth, post reminders, or automatically send updates to colleagues to help facilitate the user's daily interactions. This intelligent wearable computer would be able to act as a personal assistant, who is always around, knows the user's personal preferences and tastes, and tries to streamline interactions with the rest of the world.

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A study on the computer simulation model of the closed moving system using the nutation force (폐쇄된 계의 장동 힘에 의한 이동장치의 컴퓨터 씨뮬레이션 모델에 관한 연구)

  • Chung, Byung-Tae
    • Journal of the Korea Computer Industry Society
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    • v.6 no.2
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    • pp.331-336
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    • 2005
  • The closed movement produced vertically on the position of a motor is a notation movement produced by a notation force , while the horizontal movement can be shown by the coriolis force and the transverse force of realizing that the closed movement of the closed system is to be rotation motion. The notation movement is a vertical closed movement and by searching the equation which becomes an equation model, after comparing the simulation data from the equation model with data of a real device to use it into the computer simulation model, the additional variable elements were decided. As the result, the energy imbalance element is added as a variable about load which is relevant to friction coefficient and pole of a motor in the gravitational field. The simulation can be applied as a real physical law of the graphic game and haptic program.

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A Vibrotactile, Kinesthetic, and Thermal device for Developmental Disorder Children (발달장애아동을 위한 진동감, 굳기감, 온열감 장치)

  • Im, Tami;Yoon, Inho;Kim, Sang-Youn;Jeong, Goo-cheol
    • Journal of Digital Contents Society
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    • v.18 no.7
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    • pp.1435-1441
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    • 2017
  • The primary goals of this paper are to design an interactive education platform conveying a variety of haptic sensations to developmental disorder children when they touch the education platform. The proposed interactive education platform is composed of a kinesthetic module, a vibrotactile module, a thermal module. and a controller. The design focuses of the proposed education platform were to create sufficiently large kinesthetic forces, vibrations, and temperatures and to convey them to users. We have conducted experiments for evaluating the proposed system and found out three modules function safely and effectively as an educational platform.

Design and fabrication of a 3D haptic interface device and realization of a virtual plyometric rehabilitation training system (3차원 햅틱 인터페이스 장치 설계/제작 및 가상 순발력 재활훈련 장치 구현)

  • Back, Jong-Won;Yong, Ho-Joong;Choi, Dae-Seong;Yu, Dong-Jin;Lee, Hyun-Suk;Jang, Tae-Jeong
    • 한국HCI학회:학술대회논문집
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    • 2007.02a
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    • pp.915-919
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    • 2007
  • 가상현실은 컴퓨터를 이용하여 만들어진 가상의 환경에서 사용자가 오감을 통해 현실과 유사한 느낌을 경험할 수 있도록 해주는 기술이다. 햅틱 인터페이스는 사용자가 촉각으로 가상 환경과 상호 작용을 할 수 있도록 해주는 기술로서 사용자가 가상 물체를 실제로 만지는 듯한 착각을 불러 일으켜 보다 현실에 가까운 가상 경험을 할 수 있도록 도와준다. 본 논문에서는 다양한 용도로 사용할 수 있는 3차원 햅틱 인터페이스 장치를 설계 및 제작하고, 순발력 재활훈련의 목적으로 가상공간을 시각적으로 보여주는 입체영상 시스템과 연동하여 일부 제한적인 기능을 갖는 가상 테니스 연습 시스템을 구현하였다. 이때 가상 공과 가상 라켓의 간단한 충돌 모델과 햅틱 렌더링을 통하여 가상 공을 칠 때 사용자가 라켓으로 느끼는 충격과 반력을 제작한 3차원 햅틱 인터페이스 장치를 통하여 느낄 수 있도록 하였다. 구현된 시스템의 실험을 통하여 공과 라켓에서 충돌이 일어났을 때의 느낌을 사용자에게 전달할 수 있었으며, 완벽하지는 않지만 공과 라켓의 충돌 후 공의 나가는 방향과 속도가 실제와 유사함을 확인하였다.

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A Design of Dangerous Sound Detection Engine of Wearable Device for Hearing Impaired Persons (청각장애인을 위한 웨어러블 기기의 위험소리 검출 엔진 설계)

  • Byun, Sung-Woo;Lee, Soek-Pil
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.65 no.7
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    • pp.1263-1269
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    • 2016
  • Hearing impaired persons are exposed to the danger since they can't be aware of many dangerous situations like fire alarms, car hones and so on. Therefore they need haptic or visual informations when they meet dangerous situations. In this paper, we design a dangerous sound detection engine for hearing impaired. We consider four dangerous indoor situations such as a boiled sound of kettle, a fire alarm, a door bell and a phone ringing. For outdoor, two dangerous situations such as a car horn and a siren of emergency vehicle are considered. For a test, 6 data sets are collected from those six situations. we extract LPC, LPCC and MFCC as feature vectors from the collected data and compare the vectors for feasibility. Finally we design a matching engine using an artificial neural network and perform classification tests. We perform classification tests for 3 times considering the use outdoors and indoors. The test result shows the feasibility for the dangerous sound detection.

Research and development of haptic simulator for Dental education using Virtual reality and User motion

  • Lee, Sang-Hyun
    • International Journal of Advanced Culture Technology
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    • v.6 no.4
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    • pp.52-57
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    • 2018
  • The purpose of this paper is to develop simulations that can be used for virtual education in dentistry. The virtual education to be developed will be developed with clinical training and actual case data of tooth extraction. This development goal is to allow dental students to learn the necessary surgical techniques at the point of their choice, not going into the operating room, away from time, space, and physical limits. I want to develop content using VR. Oculus Rift HMD, Optical Based Outside-in Tracking System, Oculus Touch Motion Controller, and Headset as Input / Output Device. In this configuration, the optimization method is applied convergent, and when the operation of the VR contents is performed, the content data is extracted from the interaction analysis formed in the VR engine, and the data is processed by the content algorithm. It also computes events and dental operations generated within the 3D engine programming and generates corresponding events through data processing according to the input signal. The visualization information is output to the HMD using the rendering information. In addition, the operating room environment was constructed by studying lighting and material for actual operating room environment. We applied the ratio of actual space to virtual space and the ratio between character and actual person to create a spatial composition at a similar rate to actual space.